import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from unicodedata import name
import launch_ros.actions

def generate_launch_description():
    return LaunchDescription([
        launch_ros.actions.Node(
            package='turtle_bt_ros2',node_executable='turtle_bt_ros2_node' , prefix=['stdbuf -o L'],output='screen' , node_name= "my_turtle"),
        launch_ros.actions.Node(
            package='turtle_bt_ros2',node_executable='client' , prefix=['stdbuf -o L'],output='screen' , node_name= "NPC_turtle"),
        launch_ros.actions.Node(
            package='turtle_bt_ros2',node_executable='myturtle_tf_broadcaster' , node_name= "tf_turtle1",prefix=['stdbuf -o L'],output='screen'),
        launch_ros.actions.Node(
            package='turtle_bt_ros2',node_executable='npcturtle_tf_broadcaster' , node_name= "tf_turtle2",prefix=['stdbuf -o L'],output='screen'),
        launch_ros.actions.Node(
            package='turtle_bt_ros2',node_executable='bt_turtle2_tree',output='screen')
    ])